KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator.java
/*
* Copyright (C) 2022 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.inertial.calibration.magnetometer;
import com.irurueta.algebra.Matrix;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyMagneticFluxDensity;
import com.irurueta.units.MagneticFluxDensity;
import com.irurueta.units.MagneticFluxDensityConverter;
import com.irurueta.units.MagneticFluxDensityUnit;
import java.util.Collection;
/**
* Estimates magnetometer cross couplings and scaling factors.
* This calibrator uses Levenberg-Marquardt to find a minimum least squared
* error solution.
* <p>
* To use this calibrator at least 7 measurements taken at a single unknown
* position and instant must be taken at 7 different unknown orientations and
* zero velocity when common z-axis is assumed, otherwise at least 10
* measurements are required.
* <p>
* Measured magnetic flux density is assumed to follow the model shown below:
* <pre>
* mBmeas = bm + (I + Mm) * mBtrue + w
* </pre>
* Where:
* - mBmeas is the measured magnetic flux density. This is a 3x1 vector.
* - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer,
* this should be a 3x1 zero vector.
* - I is the 3x3 identity matrix.
* - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling
* factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero
* matrix.
* - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector.
* - w is measurement noise. This is a 3x1 vector.
* Notice that this calibrator assumes that all measurements are taken in
* a short span of time, where Earth magnetic field can be assumed to be
* constant at provided location and instant.
*/
public class KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator extends
BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<
KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator,
KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener> {
/**
* Constructor.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator() {
super();
}
/**
* Constructor.
*
* @param listener listener to handle events raised by this calibrator.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements) {
super(measurements);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(final boolean commonAxisUsed) {
super(commonAxisUsed);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
super(measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(final double[] hardIron) {
super(hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] hardIron) {
super(measurements, hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, hardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] hardIron) {
super(measurements, commonAxisUsed, hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, hardIron, listener);
}
/**
* Constructor.
*
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(final Matrix hardIron) {
super(hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron) {
super(measurements, hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, hardIron, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron) {
super(measurements, commonAxisUsed, hardIron);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron, final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, hardIron, listener);
}
/**
* Constructor.
*
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(final Matrix hardIron, final Matrix initialMm) {
super(hardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final Matrix initialMm) {
super(measurements, hardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final Matrix initialMm, final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, hardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron, final Matrix initialMm) {
super(measurements, commonAxisUsed, hardIron, initialMm);
}
/**
* Constructor.
*
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
final boolean commonAxisUsed, final Matrix hardIron, final Matrix initialMm,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(measurements, commonAxisUsed, hardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(final Double groundTruthMagneticFluxDensityNorm) {
super(groundTruthMagneticFluxDensityNorm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements) {
super(groundTruthMagneticFluxDensityNorm, measurements);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is negative.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] hardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] hardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron array does
* not have length 3.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final double[] hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1.
*/
public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron, final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final Matrix initialMm) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron, initialMm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix hardIron,
final Matrix initialMm, final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, hardIron, initialMm, listener);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron, final Matrix initialMm) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron, initialMm);
}
/**
* Constructor.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
* @param measurements collection of body magnetic flux density
* measurements with standard deviation of
* magnetometer measurements taken at the same
* position with zero velocity and unknown different
* orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common
* for the accelerometer, gyroscope and magnetometer.
* @param hardIron known hard-iron.
* @param initialMm initial soft-iron matrix containing scale factors
* and cross coupling errors.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided magnetic flux norm value is
* negative, or if provided hard-iron matrix is not
* 3x1 or if soft-iron matrix is not
* 3x3.
*/
protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(
final Double groundTruthMagneticFluxDensityNorm,
final Collection<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
final Matrix hardIron, final Matrix initialMm,
final KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, hardIron, initialMm, listener);
}
/**
* Sets ground truth magnetic flux density norm to be expected at location where
* measurements have been made, expressed in Teslas (T).
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm or null if undefined.
* @throws IllegalArgumentException if provided value is negative.
* @throws LockedException if calibrator is currently running.
*/
public void setGroundTruthMagneticFluxDensityNorm(final Double groundTruthMagneticFluxDensityNorm)
throws LockedException {
if (isRunning()) {
throw new LockedException();
}
internalSetGroundTruthMagneticFluxDensityNorm(groundTruthMagneticFluxDensityNorm);
}
/**
* Sets ground truth magnetic flux density norm to be expected at location where
* measurements have been made.
*
* @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm or null if undefined.
* @throws IllegalArgumentException if provided value is negative.
* @throws LockedException if calibrator is currently running.
*/
public void setGroundTruthMagneticFluxDensityNorm(final MagneticFluxDensity groundTruthMagneticFluxDensityNorm)
throws LockedException {
if (isRunning()) {
throw new LockedException();
}
if (groundTruthMagneticFluxDensityNorm != null) {
internalSetGroundTruthMagneticFluxDensityNorm(MagneticFluxDensityConverter.convert(
groundTruthMagneticFluxDensityNorm.getValue().doubleValue(),
groundTruthMagneticFluxDensityNorm.getUnit(),
MagneticFluxDensityUnit.TESLA));
} else {
internalSetGroundTruthMagneticFluxDensityNorm(null);
}
}
/**
* Indicates whether calibrator is ready to start.
*
* @return true if calibrator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && getGroundTruthMagneticFluxDensityNorm() != null;
}
}